#ifndef HEXAPOD_FEETENDCAL
#define HEXAPOD_FEETENDCAL

#include <stdbool.h>
#include <stdint.h>
#include "HexapodLeg.h"

typedef struct _FeetEndCal {
	float nextStep[3];
	float footPos[3];
	float bodyVelGlobal[3];    // linear velocity
	float bodyAccGlobal[3];    // linear accelerator
	float bodyWGlobal[3];      // angular velocity
  float feetRadius[LEG_CNT];
	float feetInitAngle[LEG_CNT];
	float yaw;
	float dYaw;
	float nextYaw;
  float Tstance;
  float	Tswing;
  float kx;
	float ky;
	float kyaw;
	
} FeetEndCal;

void feetEndCalInit(FeetEndCal* feet);


#endif